diff --git a/Readme.md b/Readme.md
index 26e14bde..12dcade4 100644
--- a/Readme.md
+++ b/Readme.md
@@ -145,6 +145,12 @@ For details refer to the [example description](lib/exampletask/Readme.md).
 
 Changelog
 ---------
+[20220403](../../releases/tag/20220403)
+*********
+* add support for PGN 127257 pitch/roll/yaw
+* only convert RMC and GGA if valid status [#38](../../issues/38)
+* only send 129539 if GSA fix mode is 2 or 3 [#39](../../issues/39)
+
 [20220320](../../releases/tag/20220320)
 *********
 * accept lowercase characters in NMEA0183 checksum [#33](../../issues/33)
diff --git a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
index d9fabbab..0258f8cc 100644
--- a/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
+++ b/lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
@@ -288,6 +288,11 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
                     }
                 }
                 break;
+            case XDRATTITUDE:
+                if (fillFieldList(current,fields,3)){
+                    SetN2kPGN127257(n2kMsg,current.mapping.instanceId,fields[0],fields[1],fields[2]);
+                    send(n2kMsg,msg.sourceId,buildN2KKey(n2kMsg,current.mapping));
+                }    
             default:
                 continue;
             }
@@ -976,9 +981,9 @@ class NMEA0183DataToN2KFunctions : public NMEA0183DataToN2K
         converters.registerConverter(
             129283UL,
             String(F("XTE")), &NMEA0183DataToN2KFunctions::convertXTE);         
-        unsigned long *xdrpgns=new unsigned long[7]{127505UL,127508UL,130312UL,130313UL,130314UL,127489UL,127488UL};    
+        unsigned long *xdrpgns=new unsigned long[8]{127505UL,127508UL,130312UL,130313UL,130314UL,127489UL,127488UL,127257UL};    
         converters.registerConverter(
-            7,
+            8,
             xdrpgns,
             F("XDR"), &NMEA0183DataToN2KFunctions::convertXDR);
         unsigned long *aispgns=new unsigned long[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
diff --git a/lib/nmea2kto0183/N2kDataToNMEA0183.cpp b/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
index b101f6c8..3e900fde 100644
--- a/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
+++ b/lib/nmea2kto0183/N2kDataToNMEA0183.cpp
@@ -1389,6 +1389,22 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
         }
         finalizeXdr();
     }
+    void Handle127257(const tN2kMsg &msg){
+        unsigned char instance=-1;
+        double values[3];
+        for (int i=0;i<3;i++) values[i]=N2kDoubleNA;
+        //yaw,pitch,roll
+        if (! ParseN2kPGN127257(msg,instance,
+            values[0],values[1],values[2])){
+           LOG_DEBUG(GwLog::DEBUG,"unable to parse PGN %d",msg.PGN); 
+        }
+        for (int i=0;i<3;i++){
+            GwXDRFoundMapping mapping=xdrMappings->getMapping(XDRATTITUDE,0,i,instance);
+            if (! updateDouble(&mapping,values[i])) continue; 
+            addToXdr(mapping.buildXdrEntry(values[i])); 
+        }
+        finalizeXdr();
+    }
     void Handle127488(const tN2kMsg &msg){
         unsigned char instance=-1;
         double speed=N2kDoubleNA,pressure=N2kDoubleNA;
@@ -1478,6 +1494,7 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
       converters.registerConverter(127489UL, &N2kToNMEA0183Functions::Handle127489);
       converters.registerConverter(127488UL, &N2kToNMEA0183Functions::Handle127488);
       converters.registerConverter(130316UL, &N2kToNMEA0183Functions::Handle130316);
+      converters.registerConverter(127257UL, &N2kToNMEA0183Functions::Handle127257);
 #define HANDLE_AIS
 #ifdef HANDLE_AIS
       converters.registerConverter(129038UL, &N2kToNMEA0183Functions::HandleAISClassAPosReport);  // AIS Class A Position Report, Message Type 1
diff --git a/lib/xdrmappings/GwXDRMappings.cpp b/lib/xdrmappings/GwXDRMappings.cpp
index a08cfc10..04b4f3df 100644
--- a/lib/xdrmappings/GwXDRMappings.cpp
+++ b/lib/xdrmappings/GwXDRMappings.cpp
@@ -53,6 +53,7 @@ GwXDRType *types[] = {
     new GwXDRType(GwXDRType::FLOW, "R", "I", ps2ph, ph2ps),
     new GwXDRType(GwXDRType::GENERIC, "G", ""),
     new GwXDRType(GwXDRType::DISPLACEMENT, "A", "P"),
+    new GwXDRType(GwXDRType::DISPLACEMENTD, "A", "D",DegToRad,RadToDeg),
     new GwXDRType(GwXDRType::RPM,"T","R"),
     //important to have 2x NULL!
     NULL,
@@ -121,7 +122,7 @@ bool GwXDRMappingDef::handleToken(String tok, int index, GwXDRMappingDef *def)
     case 0:
         //category
         i = tok.toInt();
-        if (i < XDRTEMP || i > XDRENGINE)
+        if (i < XDRTEMP || i > XDRATTITUDE)
             return false;
         def->category = (GwXDRCategory)i;
         return true;
diff --git a/lib/xdrmappings/GwXDRMappings.h b/lib/xdrmappings/GwXDRMappings.h
index a51d3f2e..cd90781f 100644
--- a/lib/xdrmappings/GwXDRMappings.h
+++ b/lib/xdrmappings/GwXDRMappings.h
@@ -19,7 +19,8 @@ typedef enum {
     XDRBATCHEM=7, //unused
     XDRGEAR=8, //unused
     XDRBAT=9,
-    XDRENGINE=10
+    XDRENGINE=10,
+    XDRATTITUDE=11
 } GwXDRCategory;
 class GwXDRType{
     public:
@@ -36,6 +37,7 @@ class GwXDRType{
         GENERIC=9,
         DISPLACEMENT=10,
         RPM=11,
+        DISPLACEMENTD=12,
         UNKNOWN=99
     }TypeCode;
     typedef double (* convert)(double);
diff --git a/web/xdrconfig.json b/web/xdrconfig.json
index 6e528f7a..dab61e60 100644
--- a/web/xdrconfig.json
+++ b/web/xdrconfig.json
@@ -323,5 +323,14 @@
             {"l":"EngineBoostPressure","t":0},
             {"l":"EngineTiltTrim","t":10}
         ]
+    },
+    "Attitude":{
+        "d":"127257",
+        "id":11,
+        "fields":[
+            {"l":"Yaw","t":12},
+            {"l":"Pitch","t":12},
+            {"l":"Roll","t":12}
+        ]
     }
 }